Fawkes API  Fawkes Development Version
message_handler_thread.h
1 
2 /***************************************************************************
3  * message_handler_thread.h - OpenRAVE interface messages handler thread
4  *
5  * Created: Fri Feb 25 15:08:00 2011
6  * Copyright 2011 Bahram Maleki-Fard
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_OPENRAVE_MESSAGE_HANDLER_THREAD_H_
24 #define _PLUGINS_OPENRAVE_MESSAGE_HANDLER_THREAD_H_
25 
26 #include "openrave_thread.h"
27 
28 #include <aspect/blackboard.h>
29 #include <aspect/blocked_timing.h>
30 #include <aspect/configurable.h>
31 #include <aspect/logging.h>
32 #include <core/threading/thread.h>
33 
34 namespace fawkes {
35 class OpenRaveInterface;
36 }
37 
39  public fawkes::LoggingAspect,
43 {
44 public:
47 
48  virtual void init();
49  virtual void loop();
50  virtual void finalize();
51 
52  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
53 protected:
54  virtual void
55  run()
56  {
57  Thread::run();
58  }
59 
60 private:
61  OpenRaveThread * or_thread_;
62  fawkes::OpenRaveInterface *if_openrave_;
63 };
64 
65 #endif
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void finalize()
Finalize the thread.
virtual void loop()
Code to execute in the thread.
virtual ~OpenRaveMessageHandlerThread()
Destructor.
OpenRaveMessageHandlerThread(OpenRaveThread *or_thread)
Constructor.
virtual void init()
Initialize the thread.
OpenRAVE Thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
OpenRaveInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.